ompl::control::PropositionalTriangularDecomposition Class Reference
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance. More...
#include <ompl/extensions/triangle/PropositionalTriangularDecomposition.h>
Inheritance diagram for ompl::control::PropositionalTriangularDecomposition:
Public Types | |
| using | Polygon = TriangularDecomposition::Polygon |
| using | Vertex = TriangularDecomposition::Vertex |
Public Member Functions | |
| PropositionalTriangularDecomposition (const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >()) | |
| Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional. The underlying mesh will be a conforming Delaunay triangulation. The triangulation will ignore any obstacles, given as a list of polygons. The triangulation will respect the boundaries of any propositional regions of interest, given as a list of polygons. | |
| int | getNumProps () const override |
| Returns the number of propositions in this propositional decomposition. | |
| World | worldAtRegion (int triID) override |
| Returns the World corresponding to a given region. | |
| void | setup () |
| void | addHole (const Polygon &hole) |
| void | addProposition (const Polygon &prop) |
| const std::vector< Polygon > & | getHoles () const |
| const std::vector< Polygon > & | getPropositions () const |
| void | print (std::ostream &out) const |
 Public Member Functions inherited from ompl::control::PropositionalDecomposition | |
| PropositionalDecomposition (const DecompositionPtr &decomp) | |
| Creates a propositional decomposition wrapped around a given decomposition with a given number of propositions. | |
| ~PropositionalDecomposition () override | |
| Clears all memory belonging to this propositional decomposition. | |
| int | getNumRegions () const override |
| Returns the number of regions in this propositional decomposition's underlying decomposition. | |
| double | getRegionVolume (int rid) override |
| Returns the volume of a given region. | |
| int | locateRegion (const base::State *s) const override |
| Returns the region of the underlying decomposition that contains a given State. | |
| void | project (const base::State *s, std::vector< double > &coord) const override |
| Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition. | |
| void | getNeighbors (int rid, std::vector< int > &neighbors) const override |
| Stores a given region's neighbors into a given vector. | |
| void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const override |
| Samples a projected coordinate from a given region. | |
| void | sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const override |
| Samples a State using a projected coordinate and a StateSampler. | |
| Public Member Functions inherited from ompl::control::Decomposition | |
| Decomposition (int dim, const base::RealVectorBounds &b) | |
| Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions. | |
| virtual int | getDimension () const |
| Returns the dimension of this Decomposition. | |
| virtual const base::RealVectorBounds & | getBounds () const |
| Returns the bounds of this Decomposition. | |
Protected Attributes | |
| TriangularDecomposition * | triDecomp_ |
| Protected Attributes inherited from ompl::control::PropositionalDecomposition | |
| DecompositionPtr | decomp_ |
| Protected Attributes inherited from ompl::control::Decomposition | |
| int | dimension_ |
| base::RealVectorBounds | bounds_ |
Detailed Description
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance.
Definition at line 122 of file PropositionalTriangularDecomposition.h.
The documentation for this class was generated from the following files:
- ompl/extensions/triangle/PropositionalTriangularDecomposition.h
- ompl/extensions/triangle/src/PropositionalTriangularDecomposition.cpp